Process calibration movements as endstops

Marlin/Configuration_adv.h

@@ -1331,8 +1331,6 @@
   //#define CALIBRATION_SCRIPT_PRE  "M117 Starting Auto-Calibration\nT0\nG28\nG12\nM117 Calibrating..."
   //#define CALIBRATION_SCRIPT_POST "M500\nM117 Calibration data saved"
 
-  #define CALIBRATION_MEASUREMENT_RESOLUTION     0.01 // mm
-
   #define CALIBRATION_FEEDRATE_SLOW             60    // mm/min
   #define CALIBRATION_FEEDRATE_FAST           1200    // mm/min
   #define CALIBRATION_FEEDRATE_TRAVEL         3000    // mm/min

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -345,6 +345,14 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif
+  #if USE_CALIBRATION
+    #if (digitalPinToInterrupt(CALIBRATION_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(CALIBRATION_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(CALIBRATION_PIN), "CALIBRATION_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
+      pciSetup(CALIBRATION_PIN);
+    #endif
+  #endif
 
   // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -64,6 +64,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/ESP32/endstop_interrupts.h

@@ -59,6 +59,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/HC32/endstop_interrupts.cpp

@@ -101,12 +101,14 @@ void setup_endstop_interrupts() {
 
   SETUP(Z_MIN_PROBE);
 
+  SETUP(CALIBRATION);
+
   #undef SETUP
 }
 
 // Ensure 1 - 10 IRQs are registered
 // Disable some endstops if you encounter this error
-#define ENDSTOPS_INTERRUPTS_COUNT COUNT_ENABLED(USE_X_MAX, USE_X_MIN, USE_X2_MAX, USE_X2_MIN, USE_Y_MAX, USE_Y_MIN, USE_Y2_MAX, USE_Y2_MIN, USE_Z_MAX, USE_Z_MIN, USE_Z2_MAX, USE_Z2_MIN, USE_Z3_MAX, USE_Z3_MIN, USE_Z4_MAX, USE_Z4_MIN, USE_Z_MIN_PROBE)
+#define ENDSTOPS_INTERRUPTS_COUNT COUNT_ENABLED(USE_X_MAX, USE_X_MIN, USE_X2_MAX, USE_X2_MIN, USE_Y_MAX, USE_Y_MIN, USE_Y2_MAX, USE_Y2_MIN, USE_Z_MAX, USE_Z_MIN, USE_Z2_MAX, USE_Z2_MIN, USE_Z3_MAX, USE_Z3_MIN, USE_Z4_MAX, USE_Z4_MIN, USE_Z_MIN_PROBE, USE_CALIBRATION)
 #if ENDSTOPS_INTERRUPTS_COUNT > 10
   #error "Too many endstop interrupts! HC32F460 only supports 10 endstop interrupts."
 #elif ENDSTOPS_INTERRUPTS_COUNT == 0

Marlin/src/HAL/LPC1768/endstop_interrupts.h

@@ -146,6 +146,12 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif
+  #if USE_CALIBRATION
+    #if !LPC1768_PIN_INTERRUPT_M(CALIBRATION_PIN)
+      #error "CALIBRATION_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
+    #endif
+    _ATTACH(CALIBRATION_PIN);
+  #endif
   #if USE_I_MAX
     #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN)
       #error "I_MAX_PIN is not INTERRUPT-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."

Marlin/src/HAL/SAMD21/endstop_interrupts.h

@@ -83,6 +83,7 @@
 #define MATCH_Z4_MAX_EILINE(P) TERN0(USE_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
 #define MATCH_Z4_MIN_EILINE(P) TERN0(USE_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
 #define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(USE_Z_MIN_PROBE, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
+#define MATCH_CALIBRATION_EILINE(P) TERN0(USE_CALIBRATION, DEFER4(MATCH_EILINE)(P, CALIBRATION_PIN))
 
 #define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
   && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
@@ -99,7 +100,8 @@
   && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
   && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
   && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
-  && !MATCH_Z_MIN_PROBE_EILINE(P) )
+  && !MATCH_Z_MIN_PROBE_EILINE(P)                       \
+  && !MATCH_CALIBRATION_EILINE(P) )
 
 // One ISR for all EXT-Interrupts
 void endstop_ISR() { endstops.update(); }
@@ -208,6 +210,12 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif
+  #if USE_CALIBRATION
+    #if !AVAILABLE_EILINE(CALIBRATION_PIN)
+      #error "CALIBRATION_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
+    #endif
+    _ATTACH(CALIBRATION_PIN);
+  #endif
   #if USE_I_MAX
     #if !AVAILABLE_EILINE(I_MAX_PIN)
       #error "I_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -82,6 +82,7 @@
 #define MATCH_Z4_MAX_EILINE(P) TERN0(USE_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
 #define MATCH_Z4_MIN_EILINE(P) TERN0(USE_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
 #define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(USE_Z_MIN_PROBE, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
+#define MATCH_CALIBRATION_EILINE(P) TERN0(USE_CALIBRATION, DEFER4(MATCH_EILINE)(P, CALIBRATION_PIN))
 
 #define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
   && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
@@ -98,7 +99,8 @@
   && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
   && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
   && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
-  && !MATCH_Z_MIN_PROBE_EILINE(P) )
+  && !MATCH_Z_MIN_PROBE_EILINE(P)                       \
+  && !MATCH_CALIBRATION_EILINE(P) )
 
 // One ISR for all EXT-Interrupts
 void endstop_ISR() { endstops.update(); }
@@ -183,6 +185,12 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif
+  #if USE_CALIBRATION
+    #if !AVAILABLE_EILINE(CALIBRATION_PIN)
+      #error "CALIBRATION_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
+    #endif
+    _ATTACH(CALIBRATION_PIN);
+  #endif
   #if USE_I_MAX
     #if !AVAILABLE_EILINE(I_MAX_PIN)
       #error "I_MAX_PIN has no EXTINT line available. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."

Marlin/src/HAL/STM32/endstop_interrupts.h

@@ -45,6 +45,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/STM32F1/endstop_interrupts.h

@@ -70,6 +70,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h

@@ -64,6 +64,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h

@@ -63,6 +63,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h

@@ -63,6 +63,7 @@ void setup_endstop_interrupts() {
   TERN_(USE_Z4_MAX,      _ATTACH(Z4_MAX_PIN));
   TERN_(USE_Z4_MIN,      _ATTACH(Z4_MIN_PIN));
   TERN_(USE_Z_MIN_PROBE, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(USE_CALIBRATION, _ATTACH(CALIBRATION_PIN));
   TERN_(USE_I_MAX,       _ATTACH(I_MAX_PIN));
   TERN_(USE_I_MIN,       _ATTACH(I_MIN_PIN));
   TERN_(USE_J_MAX,       _ATTACH(J_MAX_PIN));

Marlin/src/core/language.h

@@ -355,6 +355,8 @@
 #define STR_PROBE_EN                        "probe_en"
 #define STR_FILAMENT                        "filament"
 
+#define STR_CALIBRATION                     "calibration"
+
 // General axis names
 #define STR_X "X"
 #define STR_Y "Y"

Marlin/src/gcode/calibrate/G425.cpp

@@ -181,20 +181,6 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
 
 #endif
 
-#if !PIN_EXISTS(CALIBRATION)
-  #include "../../module/probe.h"
-#endif
-
-inline bool read_calibration_pin() {
-  return (
-    #if PIN_EXISTS(CALIBRATION)
-      READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING
-    #else
-      PROBE_TRIGGERED()
-    #endif
-  );
-}
-
 /**
  * Move along axis in the specified dir until the probe value becomes stop_state,
  * then return the axis value.
@@ -205,18 +191,18 @@ inline bool read_calibration_pin() {
  *   fast         in - Fast vs. precise measurement
  */
 float measuring_movement(const AxisEnum axis, const int dir, const bool stop_state, const bool fast) {
-  const float step     = fast ? 0.25 : CALIBRATION_MEASUREMENT_RESOLUTION;
   const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
   const float limit    = fast ? 50 : 5;
 
   destination = current_position;
-  for (float travel = 0; travel < limit; travel += step) {
-    destination[axis] += dir * step;
-    do_blocking_move_to((xyz_pos_t)destination, mms);
-    planner.synchronize();
-    if (read_calibration_pin() == stop_state) break;
-  }
-  return destination[axis];
+  destination[axis] += dir * limit;
+  endstops.enable_calibration_probe(true, stop_state);
+  do_blocking_move_to((xyz_pos_t)destination, mms);
+  endstops.enable_calibration_probe(false);
+  endstops.hit_on_purpose();
+  set_current_from_steppers_for_axis(axis);
+  sync_plan_position();
+  return current_position[axis];
 }
 
 /**

Marlin/src/inc/Changes.h

@@ -697,6 +697,8 @@
   #error "Z_PROBE_END_SCRIPT is now EVENT_GCODE_AFTER_G29."
 #elif defined(WIFI_SERIAL)
   #error "WIFI_SERIAL is now WIFI_SERIAL_PORT."
+#elif defined(CALIBRATION_MEASUREMENT_RESOLUTION)
+  #error "CALIBRATION_MEASUREMENT_RESOLUTION is no longer needed and should be removed."
 #endif
 
 // Changes to Probe Temp Compensation (#17392)

Marlin/src/inc/Conditionals_post.h

@@ -2200,6 +2200,11 @@
   #define HAS_Z_PROBE_STATE 1
 #endif
 
+#if PIN_EXISTS(CALIBRATION)
+  #define USE_CALIBRATION 1
+  #define HAS_CALIBRATION_STATE 1
+#endif
+
 #undef _ANY_STOP
 #undef _USE_STOP
 #undef _HAS_STATE

Marlin/src/module/endstops.cpp

@@ -87,6 +87,11 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
   volatile bool Endstops::z_probe_enabled = false;
 #endif
 
+#if ENABLED(CALIBRATION_GCODE)
+  volatile bool Endstops::calibration_probe_enabled = false;
+  volatile bool Endstops::calibration_stop_state;
+#endif
+
 // Initialized by settings.load()
 #if ENABLED(X_DUAL_ENDSTOPS)
   float Endstops::x2_endstop_adj;
@@ -203,7 +208,7 @@ void Endstops::init() {
     _INIT_ENDSTOP(MAX,W,);
   #endif
 
-  #if PIN_EXISTS(CALIBRATION)
+  #if USE_CALIBRATION
     #if ENABLED(CALIBRATION_PIN_PULLUP)
       SET_INPUT_PULLUP(CALIBRATION_PIN);
     #elif ENABLED(CALIBRATION_PIN_PULLDOWN)
@@ -283,6 +288,17 @@ void Endstops::not_homing() {
   }
 #endif
 
+// Enable / disable calibration probe checking
+#if ENABLED(CALIBRATION_GCODE)
+  void Endstops::enable_calibration_probe(const bool onoff, const bool stop_state) {
+    // Avoid race condition by setting stop state first
+    if (onoff) calibration_stop_state = stop_state;
+    calibration_probe_enabled = onoff;
+
+    resync();
+  }
+#endif
+
 // Get the stable endstop states when enabled
 void Endstops::resync() {
   if (!abort_enabled()) return;     // If endstops/probes are disabled the loop below can hang
@@ -485,6 +501,9 @@ void __O2 Endstops::report_states() {
   #if USE_Z_MIN_PROBE
     print_es_state(PROBE_TRIGGERED(), F(STR_Z_PROBE));
   #endif
+  #if USE_CALIBRATION
+    print_es_state(READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING, F(STR_CALIBRATION));
+  #endif
   #if MULTI_FILAMENT_SENSOR
     #define _CASE_RUNOUT(N) case N: pin = FIL_RUNOUT##N##_PIN; state = FIL_RUNOUT##N##_STATE; break;
     for (uint8_t i = 1; i <= NUM_RUNOUT_SENSORS; ++i) {
@@ -530,6 +549,16 @@ void Endstops::update() {
     if (G38_move) UPDATE_LIVE_STATE(Z, TERN(USE_Z_MIN_PROBE, MIN_PROBE, MIN));
   #endif
 
+  #if ENABLED(CALIBRATION_GCODE)
+    if (calibration_probe_enabled) {
+      #if HAS_CALIBRATION_STATE
+        SET_BIT_TO(live_state, CALIBRATION, READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING);
+      #else
+        UPDATE_LIVE_STATE(Z, TERN(USE_Z_MIN_PROBE, MIN_PROBE, MIN));
+      #endif
+    }
+  #endif
+
   // With Dual X, endstops are only checked in the homing direction for the active extruder
   #define X_MIN_TEST() TERN1(DUAL_X_CARRIAGE, stepper.last_moved_extruder == 0) // Check min for the left carriage
   #define X_MAX_TEST() TERN1(DUAL_X_CARRIAGE, stepper.last_moved_extruder != 0) // Check max for the right carriage
@@ -797,6 +826,15 @@ void Endstops::update() {
     }
   #endif
 
+  #if ENABLED(CALIBRATION_GCODE)
+    if (calibration_probe_enabled) {
+      #if HAS_CALIBRATION_STATE
+        if (TEST(live_state, CALIBRATION) == calibration_stop_state) stepper.quick_stop();
+      #else
+        if (TEST(live_state, Z_MIN_PROBE) == calibration_stop_state) stepper.quick_stop();
+      #endif
+    }
+  #endif
   // Signal, after validation, if an endstop limit is pressed or not
 
   bool moving_neg;
@@ -1173,6 +1211,9 @@ void Endstops::update() {
     #if USE_Z_MIN_PROBE
       ES_GET_STATE(Z_MIN_PROBE);
     #endif
+    #if USE_CALIBRATION
+      ES_GET_STATE(CALIBRATION);
+    #endif
     #if USE_X2_MIN
       ES_GET_STATE(X2_MIN);
     #endif
@@ -1265,6 +1306,9 @@ void Endstops::update() {
       #if USE_Z_MIN_PROBE
         ES_REPORT_CHANGE(Z_MIN_PROBE);
       #endif
+      #if USE_CALIBRATION
+        ES_REPORT_STATE(CALIBRATION);
+      #endif
       #if USE_X2_MIN
         ES_REPORT_CHANGE(X2_MIN);
       #endif

Marlin/src/module/endstops.h

@@ -66,6 +66,9 @@ enum EndstopEnum : char {
   // Extra Endstops for XYZ
   ES_MINMAX(X2) ES_MINMAX(Y2) ES_MINMAX(Z2) ES_MINMAX(Z3) ES_MINMAX(Z4)
 
+  // Calibration pin state
+  ES_ITEM(HAS_CALIBRATION_STATE, CALIBRATION)
+
   // Bed Probe state is distinct or shared with Z_MIN (i.e., when the probe is the only Z endstop)
   ES_ITEM(HAS_Z_PROBE_STATE, Z_MIN_PROBE IF_DISABLED(USE_Z_MIN_PROBE, = Z_MIN))
 
@@ -165,10 +168,10 @@ class Endstops {
     static void init();
 
     /**
-     * Are endstops or the probe set to abort the move?
+     * Are endstops or the Z min probe or the CALIBRATION probe set to abort the move?
      */
     FORCE_INLINE static bool abort_enabled() {
-      return enabled || TERN0(HAS_BED_PROBE, z_probe_enabled);
+      return enabled || TERN0(HAS_BED_PROBE, z_probe_enabled) || TERN0(CALIBRATION_GCODE, calibration_probe_enabled);
     }
 
     static bool global_enabled() { return enabled_globally; }
@@ -251,6 +254,13 @@ class Endstops {
       static void enable_z_probe(const bool onoff=true);
     #endif
 
+    // Enable / disable calibration probe checking
+    #if ENABLED(CALIBRATION_GCODE)
+      static volatile bool calibration_probe_enabled;
+      static volatile bool calibration_stop_state;
+      static void enable_calibration_probe(const bool onoff,const bool stop_state = true);
+    #endif
+
     static void resync();
 
     // Debugging of endstops